diff --git a/nebula_common/CMakeLists.txt b/nebula_common/CMakeLists.txt
index f98063044..4c146736c 100644
--- a/nebula_common/CMakeLists.txt
+++ b/nebula_common/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.14)
 project(nebula_common)
 
 find_package(ament_cmake_auto REQUIRED)
@@ -29,6 +29,7 @@ endif()
 
 include_directories(
         include
+        SYSTEM
         ${YAML_CPP_INCLUDE_DIRS}
         ${PCL_INCLUDE_DIRS}
         ${PCL_COMMON_INCLUDE_DIRS}
diff --git a/nebula_decoders/CMakeLists.txt b/nebula_decoders/CMakeLists.txt
index 463a589c7..e9b35101c 100644
--- a/nebula_decoders/CMakeLists.txt
+++ b/nebula_decoders/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.14)
 project(nebula_decoders)
 
 find_package(ament_cmake_auto REQUIRED)
@@ -21,6 +21,7 @@ find_package(nebula_common REQUIRED)
 
 include_directories(
         include
+        SYSTEM
         ${YAML_CPP_INCLUDE_DIRS}
         ${PCL_INCLUDE_DIRS}
         ${PCL_COMMON_INCLUDE_DIRS}
diff --git a/nebula_examples/CMakeLists.txt b/nebula_examples/CMakeLists.txt
index 5072a5f76..774580c04 100644
--- a/nebula_examples/CMakeLists.txt
+++ b/nebula_examples/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(nebula_examples)
 
 # Default to C++17
@@ -23,6 +23,7 @@ ament_auto_find_build_dependencies()
 
 include_directories(
         include
+        SYSTEM
         ${YAML_CPP_INCLUDE_DIRS}
         ${PCL_INCLUDE_DIRS}
         ${PCL_COMMON_INCLUDE_DIRS}
diff --git a/nebula_hw_interfaces/CMakeLists.txt b/nebula_hw_interfaces/CMakeLists.txt
index c1e34ab62..23d8a52bf 100644
--- a/nebula_hw_interfaces/CMakeLists.txt
+++ b/nebula_hw_interfaces/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.14)
 project(nebula_hw_interfaces)
 
 find_package(ament_cmake_auto REQUIRED)
@@ -19,6 +19,7 @@ endif ()
 
 include_directories(
         include
+        SYSTEM
         ${YAML_CPP_INCLUDE_DIRS}
         ${PCL_INCLUDE_DIRS}
         ${PCL_COMMON_INCLUDE_DIRS}
diff --git a/nebula_messages/pandar_msgs/CMakeLists.txt b/nebula_messages/pandar_msgs/CMakeLists.txt
index 94462b301..72c04f9b8 100644
--- a/nebula_messages/pandar_msgs/CMakeLists.txt
+++ b/nebula_messages/pandar_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(pandar_msgs)
 
 if (NOT CMAKE_CXX_STANDARD)
diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index 6848b9dec..ea5b0d93d 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.14)
 project(nebula_ros)
 
 find_package(ament_cmake_auto REQUIRED)
@@ -25,6 +25,7 @@ find_package(yaml-cpp REQUIRED)
 
 include_directories(
         include
+        SYSTEM
         ${YAML_CPP_INCLUDE_DIRS}
         ${PCL_INCLUDE_DIRS}
         ${PCL_COMMON_INCLUDE_DIRS}
diff --git a/nebula_sensor_driver/CMakeLists.txt b/nebula_sensor_driver/CMakeLists.txt
index 8437d3b45..f9a39ac72 100644
--- a/nebula_sensor_driver/CMakeLists.txt
+++ b/nebula_sensor_driver/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(nebula_sensor_driver)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nebula_tests/CMakeLists.txt b/nebula_tests/CMakeLists.txt
index bd58aa6fc..4a290c6ff 100644
--- a/nebula_tests/CMakeLists.txt
+++ b/nebula_tests/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.14)
 project(nebula_tests)
 
 find_package(ament_cmake_auto REQUIRED)